U.S. patent application number 17/176360 was filed with the patent office on 2021-08-19 for holding device, transfer system, support device, placement method, and transfer method.
This patent application is currently assigned to KABUSHIKI KAISHA TOSHIBA. The applicant listed for this patent is KABUSHIKI KAISHA TOSHIBA, TOSHIBA INFRASTRUCTURE SYSTEMS & SOLUTIONS CORPORATION. Invention is credited to Yukihiro IKEYA, Taketo SHIBA, Takeshi TOYOSHIMA.
Application Number | 20210253368 17/176360 |
Document ID | / |
Family ID | 1000005463790 |
Filed Date | 2021-08-19 |
United States Patent
Application |
20210253368 |
Kind Code |
A1 |
IKEYA; Yukihiro ; et
al. |
August 19, 2021 |
HOLDING DEVICE, TRANSFER SYSTEM, SUPPORT DEVICE, PLACEMENT METHOD,
AND TRANSFER METHOD
Abstract
A holding device includes a supporter, a gripper, and a first
driver. The supporter supports a weight of a workpiece in a first
direction. The gripper includes a gripping surface that grips the
workpiece in a second direction crossing the first direction. The
first driver moves the supporter with respect to the gripper in the
second direction. A tilt of the supporter is changeable with
respect to the gripping surface along a plane including the first
and second directions.
Inventors: |
IKEYA; Yukihiro; (Yokohama,
JP) ; TOYOSHIMA; Takeshi; (Yokohama, JP) ;
SHIBA; Taketo; (Yokohama, JP) |
|
Applicant: |
Name |
City |
State |
Country |
Type |
KABUSHIKI KAISHA TOSHIBA
TOSHIBA INFRASTRUCTURE SYSTEMS & SOLUTIONS CORPORATION |
Tokyo
Kawasaki-shi |
|
JP
JP |
|
|
Assignee: |
KABUSHIKI KAISHA TOSHIBA
Tokyo
JP
TOSHIBA INFRASTRUCTURE SYSTEMS & SOLUTIONS
CORPORATION
Kawasaki-shi
JP
|
Family ID: |
1000005463790 |
Appl. No.: |
17/176360 |
Filed: |
February 16, 2021 |
Current U.S.
Class: |
1/1 |
Current CPC
Class: |
B65G 2203/0233 20130101;
B65G 43/00 20130101; B65G 47/914 20130101; B65G 47/46 20130101 |
International
Class: |
B65G 47/91 20060101
B65G047/91; B65G 43/00 20060101 B65G043/00; B65G 47/46 20060101
B65G047/46 |
Foreign Application Data
Date |
Code |
Application Number |
Feb 18, 2020 |
JP |
2020-025269 |
Claims
1. A holding device, comprising: a supporter supporting a weight of
a workpiece in a first direction; a limiter suppressing movement in
a direction crossing the first direction of the workpiece supported
by the supporter; and a first driver moving the supporter with
respect to the limiter in a second direction crossing the first
direction, a tilt of the supporter being changeable with respect to
the limiter along a plane including the first and second
directions.
2. The holding device according to claim 1, further comprising: a
second driver moving the limiter in the second direction.
3. The holding device according to claim 2, wherein the limiter
includes a gripper including a gripping surface gripping the
workpiece in the second direction, and the tilt of the supporter
along the plane is changeable with respect to the gripping
surface.
4. The holding device according to claim 3, further comprising: a
rotation part to which the supporter is fixed; and a frame to which
the rotation part is rotatably mounted, the supporter including a
placement portion at which the workpiece is placed, a position in
the second direction of the gripping surface being between a
position in the second direction of the placement portion and a
position in the second direction of a rotation axis of the rotation
part.
5. The holding device according to claim 3, further comprising: a
rotation part to which the supporter is fixed; a frame to which the
rotation part is rotatably mounted via a rotation axis; and an
abutment part fixed with respect to the frame, the first driver
moving the rotation part between a first position and a second
position, a distance in the second direction between the first
position and the gripping surface being greater than a distance in
the second direction between the second position and the gripping
surface, when the rotation part moves from the first position to
the second position, the abutment part contacts the rotation part,
and the tilt of the supporter with respect to the gripping surface
is changed by the rotation part rotating around the rotation
axis.
6. The holding device according to claim 5, wherein a tilt of the
supporter with respect to the second direction at the second
position is less than the tilt of the supporter with respect to the
second direction at the first position.
7. The holding device according to claim 5, wherein the supporter
includes: a first surface extending along the second direction and
contacting the workpiece; and a second surface at a side opposite
to the first surface, and a distance in the first direction between
the first surface and the second surface decreases away from the
rotation part.
8. The holding device according to claim 3, wherein a plurality of
the supporters is provided in a third direction crossing the plane
including the first and second directions, and the workpiece is
supported by the plurality of supporters.
9. The holding device according to claim 8, wherein the plurality
of supporters includes a first supporter and a second supporter,
and a distance in the third direction between the first supporter
and the second supporter is changeable.
10. The holding device according to claim 9, further comprising: a
first frame mounted to the first supporter; a second frame mounted
to the second supporter; a first protrusion fixed with respect to
the first frame; a second protrusion fixed with respect to the
second frame, so that the first and second protrusions are arranged
with each other in the third direction; an engaging member
including a first groove engaging the first protrusion, and a
second groove engaging the second protrusion; and a third driver
moving the engaging member with respect to the first and second
frames, the first driver moving the first and second supporters in
the second direction with respect to the first and second frames,
the third driver moving the engaging member between a first
engagement position and a second engagement position, a distance in
the third direction between the first protrusion and the second
protrusion when the engaging member is at the first engagement
position being different from the distance in the third direction
between the first protrusion and the second protrusion when the
engaging member is at the second engagement position, a distance in
the third direction between the first supporter and the second
supporter being changed by the movement of the engaging member.
11. The holding device according to claim 9, wherein the holding
device supports and grips the workpiece located on a roller
conveyor including a plurality of rollers, and a spacing in the
third direction between the first supporter and the second
supporter is set to correspond to a spacing between
mutually-adjacent rollers of the plurality of rollers.
12. A transfer system, comprising: the holding device according to
claim 1; and a drive device moving the holding device.
13. The transfer system according to claim 12, further comprising:
a detector detecting a position or a size of the workpiece, the
drive device moving the holding device based on a detection result
of the detector.
14. A support device, comprising: a supporter extending in a second
direction crossing a first direction, the supporter supporting a
weight of a workpiece in the first direction; a rotation part to
which the supporter is fixed; a frame to which the rotation part is
rotatably mounted; an abutment part fixed with respect to the
frame; and a first driver moving the rotation part with respect to
the frame in the second direction, the first driver moving the
rotation part between a first position and a second position, the
supporter protruding from the frame along the second direction at
the second position, when the rotation part moves from the first
position to the second position, the rotation part contacts the
abutment part, and a tilt of the supporter with respect to the
first direction is changed by the rotation part rotating.
15. A placement method, comprising: placing a workpiece from a
holding device, the holding device including a supporter supporting
a weight of the workpiece in a first direction, and a gripper
gripping the workpiece in a second direction crossing the first
direction; causing a portion of the workpiece to contact a
placement location by tilting the supporter with respect to the
second direction in a state in which the workpiece is positioned
above the placement location; moving the supporter in a direction
away from the workpiece; and placing the workpiece at the placement
location by releasing the gripping of the workpiece.
16. The placement method according to claim 15, wherein the
supporter is tilted with respect to the second direction in a state
in which a position in the second direction of a gripping portion
to the workpiece is between a position in the second direction of
the workpiece and a position in the second direction of a center of
rotation of the supporter.
17. A transfer method, comprising: a holding method that includes
using the holding device to support and grip the workpiece; and the
placement method according to claim 15 that is performed after the
holding method.
Description
CROSS-REFERENCE TO RELATED APPLICATIONS
[0001] This application is based upon and claims the benefit of
priority from Japanese Patent Application No. 2020-025269, filed on
Feb. 18, 2020; the entire contents of which are incorporated herein
by reference.
FIELD
[0002] Embodiments described herein relate generally to a holding
device, a transfer system, a support device, a placement method,
and a transfer method.
BACKGROUND
[0003] There is a holding device that holds a workpiece. Technology
that can reduce the likelihood of damaging the workpiece when the
holding device places the workpiece is desirable.
BRIEF DESCRIPTION OF THE DRAWINGS
[0004] FIG. 1 is a perspective view illustrating a holding device
according to an embodiment;
[0005] FIG. 2 is a perspective view illustrating the holding device
according to the embodiment;
[0006] FIG. 3 is a perspective cross-sectional view illustrating
the holding device according to the embodiment;
[0007] FIG. 4 is a perspective view illustrating a portion of the
holding device according to the embodiment;
[0008] FIGS. 5A to 5C are side views illustrating the holding
device according to the embodiment;
[0009] FIG. 6 is a perspective view illustrating a portion of the
holding device according to the embodiment;
[0010] FIGS. 7A and 7B are side views illustrating the holding
device according to the embodiment;
[0011] FIG. 8 is a perspective view illustrating the holding device
according to the embodiment;
[0012] FIGS. 9A and 9B are plan views illustrating a portion of the
holding device according to the embodiment;
[0013] FIGS. 10A to 10C are schematic views illustrating a transfer
method according to the embodiment;
[0014] FIGS. 11A to 11C are schematic views illustrating the
transfer method according to the embodiment;
[0015] FIGS. 12A and 12B are schematic views illustrating the
transfer method according to the embodiment;
[0016] FIGS. 13A to 13C are schematic views illustrating an
operation of a holding device according to a reference example;
[0017] FIG. 14 is a side view illustrating a holding device
according to a modification of the embodiment; and
[0018] FIG. 15 is a schematic perspective view illustrating a
transfer system according to the embodiment.
DETAILED DESCRIPTION
[0019] According to one embodiment, a holding device includes a
supporter, a gripper, and a first driver. The supporter supports a
weight of a workpiece in a first direction. The gripper includes a
gripping surface that grips the workpiece in a second direction
crossing the first direction. The first driver moves the supporter
with respect to the gripper in the second direction. A tilt of the
supporter is changeable with respect to the gripping surface along
a plane including the first and second directions.
[0020] Various embodiments are described below with reference to
the accompanying drawings.
[0021] The drawings are schematic and conceptual; and the
relationships between the thickness and width of portions, the
proportions of sizes among portions, etc., are not necessarily the
same as the actual values. The dimensions and proportions may be
illustrated differently among drawings, even for identical
portions.
[0022] In the specification and drawings, components similar to
those described previously or illustrated in an antecedent drawing
are marked with like reference numerals, and a detailed description
is omitted as appropriate.
[0023] FIGS. 1, 2, and 8 are perspective views illustrating a
holding device according to an embodiment.
[0024] FIG. 3 is a perspective cross-sectional view illustrating
the holding device according to the embodiment.
[0025] FIGS. 4 and 6 are perspective views illustrating a portion
of the holding device according to the embodiment.
[0026] FIGS. 5A to 5C, 7A, and 7B are side views illustrating the
holding device according to the embodiment.
[0027] FIGS. 9A and 9B are plan views illustrating a portion of the
holding device according to the embodiment.
[0028] The holding device 100 according to the embodiment
illustrated in FIGS. 1 to 9B includes a supporter 10, a gripper 20,
and a first driver 31.
[0029] The holding device 100 is used to hold a workpiece W. For
example, the workpiece W can be transferred from one location to
another location by moving the holding device 100 that holds the
workpiece W.
[0030] The supporter 10 supports the weight of the workpiece W in a
first direction. The gripper 20 grips the workpiece W in a second
direction crossing the first direction. The first direction crosses
the horizontal plane. The second direction crosses the direction of
gravity.
[0031] The workpiece W is, for example, a corrugated fiberboard in
which an article is packaged. The type, shape, size, etc., of the
workpiece W are arbitrary as long as the workpiece W can be
supported by the supporter 10 and gripped by the gripper 20.
[0032] In the description hereinafter, the first direction is
called the vertical direction; and the second direction is called
the longitudinal direction. A third direction that crosses a plane
including the first and second directions is called the lateral
direction. In the state in which the workpiece W is held, the
direction from the supporter 10 toward the workpiece W is called
upward; and the reverse direction is called downward. The direction
from the gripper 20 toward the workpiece W is called frontward; and
the reverse direction is called backward. Rightward and leftward
are referenced to the vertical and longitudinal directions.
[0033] As long as the holding device 100 can hold the workpiece W,
the first direction may be tilted with respect to the vertical
direction; and the second direction and the third direction may be
tilted with respect to the horizontal plane. In the description
hereinbelow, the first direction is parallel to the vertical
direction; and the second direction and the third direction are
parallel to the horizontal plane.
[0034] The supporter 10 extends in the longitudinal direction. The
thickness in the vertical direction of the supporter 10 is
sufficiently small compared to the length in the longitudinal
direction of the supporter 10. As illustrated in FIG. 2, the
supporter 10 includes a flat upper surface and contacts a bottom
surface BS of the workpiece W. The gripper 20 vacuum-grips a side
surface SS of the workpiece W.
[0035] FIGS. 1 and 2 illustrate the state of the holding device 100
when the workpiece W is held by the supporter 10 and the gripper
20. The gripper 20 is positioned higher than the supporter 10 when
holding the workpiece W. In the illustrated example, when holding
the workpiece W, the supporter 10 extends frontward from the bottom
portion of the holding device 100; and the gripper 20 is positioned
at the front surface of the holding device 100.
[0036] The first driver 31 moves the supporter 10 in the
longitudinal direction with respect to the gripper 20. The movement
direction of the supporter 10 may not be parallel to the
longitudinal direction, and may be tilted in the vertical direction
with respect to the longitudinal direction. Hereinafter, "tilt" or
"tilted" means a tilt or tilting along a vertical plane including
the longitudinal and vertical directions unless otherwise
indicated.
[0037] The trajectory when the supporter 10 is moved may not be
linear, and may be curved. It is sufficient for the position in the
longitudinal direction of the supporter 10 to be changed by the
first driver 31; and the position in the vertical direction of the
supporter 10 may change when moving.
[0038] The supporter 10 is fixed with respect to a rotation part
11. The rotation part 11 is located at the side surface of the
holding device 100. The rotation part 11 is mounted to a sliding
part 14 via a rotation axis 12. Therefore, the rotation part 11 is
rotatable with respect to the sliding part 14. The rotation axis 12
is rotatable around the lateral axis. The rotation part 11 changes
the tilt of the supporter 10 with respect to the longitudinal
direction by rotating around the rotation axis 12.
[0039] The first driver 31 moves the sliding part 14 in the
longitudinal direction. The rotation part 11 and the supporter 10
also are moved in the longitudinal direction by the movement of the
sliding part 14. The supporter 10, the rotation part 11, and the
sliding part 14 are moved by the first driver 31 in the
longitudinal direction with respect to the gripper 20 and a frame
40.
[0040] The movement of the sliding part 14 is guided by a guide 13.
For example, the guide 13 is a protrusion provided at the side
surface of the frame 40. The sliding part 14 includes a
not-illustrated groove and engages the guide 13. The supporter 10
is mounted to the frame 40 via the rotation part 11, the rotation
axis 12, the guide 13, and the sliding part 14.
[0041] The guide 13 extends in a direction that is slightly tilted
with respect to the longitudinal direction. The sliding part 14,
the rotation part 11, and the supporter 10 move along the guide 13
in a direction that is tilted with respect to the longitudinal
direction.
[0042] For example, as illustrated in FIG. 3, the first driver 31
includes an air cylinder provided at an inner side of the frame 40.
A tube 31a of the air cylinder extends parallel to the guide 13.
The sliding part 14 is driven by the piston of the air cylinder.
The piston is moved by adjusting the pressure inside the tube 31a.
Simultaneously, the sliding part 14 that is fixed to the piston
moves along the guide 13. Thereby, the rotation part 11 and the
supporter 10 are moved in the longitudinal direction. The first
driver 31 is not limited to the example; the first driver 31 may
include an actuator such as a motor, etc., instead of the air
cylinder.
[0043] A not-illustrated stopper is provided in at least one of the
rotation part 11 or the sliding part 14. The stopper contacts a
mating member when the rotation part 11 rotates a prescribed angle
around the lateral axis. The rotation range of the rotation part 11
is regulated by the stopper.
[0044] As illustrated in FIGS. 1, 2, and 4, an abutment part 15 is
fixed to the frame 40. The abutment part 15 is located at the side
of the frame 40. The rotation part 11 contacts and abuts the
abutment part 15 when the rotation part 11 moves frontward. The
contact position between the rotation part 11 and the abutment part
15 is different from the position of the rotation axis 12.
Therefore, torque acts around the rotation axis 12 when the
rotation part 11 contacts the abutment part 15. The rotation part
11 is rotated around the rotation axis 12 by the torque; and the
tilt of the rotation part 11 with respect to the longitudinal
direction is changed.
[0045] For example, as illustrated in FIG. 4, the frame 40 includes
a vertical frame 41 and a horizontal frame 42. The vertical frame
41 is a plate-shaped member that spreads along the longitudinal and
vertical directions. The horizontal frame is a plate-shaped member
that spreads along the longitudinal and lateral directions. The
vertical frame 41 and the horizontal frame 42 are fixed to each
other. One lateral-direction end of the horizontal frame 42 is
fixed to the upper end of the vertical frame 41. The upper end of
the abutment part 15 is fixed to the other lateral-direction end of
the horizontal frame 42. The abutment part 15 is separated from the
vertical frame 41 in the lateral direction.
[0046] For example, the first driver 31 moves the rotation part 11
between a first position and a second position. The distance in the
longitudinal direction between the first position and a gripping
surface 22 of the gripper 20 is greater than the distance in the
longitudinal direction between the second position and the gripping
surface 22. In other words, the first position is further backward
than the second position. When the rotation part 11 is at the
second position, the supporter 10 protrudes from the gripper 20 and
the frame 40 along the longitudinal direction. The protrusion
amount (the length) in the longitudinal direction of the supporter
10 with respect to the frame 40 when the rotation part 11 is at the
second position is greater than the protrusion amount in the
longitudinal direction of the supporter 10 with respect to the
frame 40 when the rotation part 11 is at the first position. The
supporter 10 may not protrude from the frame 40 when the rotation
part 11 is at the first position. In other words, the protrusion
amount in the longitudinal direction of the supporter 10 with
respect to the frame 40 may be zero when the rotation part 11 is at
the first position.
[0047] FIG. 5A illustrates a first state in which the rotation part
11 is at the first position. FIG. 5B illustrates a state when the
rotation part 11 contacts the abutment part 15 directly before the
rotation part 11 reaches the second position. FIG. 5C illustrates a
second state in which the rotation part 11 is at the second
position. As illustrated in FIG. 5A, the supporter 10 is tilted
with respect to the longitudinal direction in the first state. As
illustrated in FIGS. 5B and 5C, the rotation part 11 rotates around
the lateral axis as the rotation part 11 contacts the abutment part
15. As a result, the tilt of the supporter 10 with respect to the
longitudinal direction is smaller in the second state than in the
first state. For example, in the second state, the upper surface of
the supporter 10 is horizontal. The tilt of the supporter 10 with
respect to the gripping surface 22 is changed by the operation
illustrated in FIGS. 5A to 5C.
[0048] As illustrated in FIG. 6, a roller 16 is rotatably mounted
at the lower end of the abutment part 15. A contact piece 17 is
mounted at the upper end of the rotation part 11. The upper surface
of the contact piece 17 includes a first sloped surface 17a and a
second sloped surface 17b. The first sloped surface 17a and the
second sloped surface 17b are tilted with respect to the
longitudinal direction when the rotation part 11 is at the first
position or the second position.
[0049] When the rotation part 11 is at the first position, the
tilts with respect to the longitudinal direction of the first
sloped surface 17a and the second sloped surface 17b are greater
than the tilt with respect to the longitudinal direction of the
guide 13. The roller 16 contacts the first sloped surface 17a when
the rotation part 11 moves toward the second position. Thereby,
torque around the lateral axis is applied to the rotation part 11.
The rotation part 11 moves further toward the second position while
rotating. The roller 16 rolls up the first sloped surface 17a as
the rotation part 11 moves. The rotation of the rotation part 11 is
stopped by the stopper described above; and the roller 16 stops on
the second sloped surface 17b when the rotation part 11 reaches the
second position. For example, the second sloped surface 17b is
substantially parallel to the guide 13 at this time.
[0050] The tilt with respect to the longitudinal direction of the
first sloped surface 17a is, for example, greater than the tilt
with respect to the longitudinal direction of the second sloped
surface 17b. Or, the tilt with respect to the longitudinal
direction of the first sloped surface 17a may be equal to the tilt
with respect to the longitudinal direction of the second sloped
surface 17b.
[0051] As illustrated in FIGS. 5B and 5C, the supporter 10 includes
a placement portion 10p where the workpiece W is placed. The
placement portion 10p includes a first surface S1 that extends
along the longitudinal direction and contacts the workpiece W, and
a second surface S2 at the side opposite to the first surface S1.
In the illustrated example, the distance in the vertical direction
between the first surface S1 and the second surface S2 decreases
away from the rotation part 11. In other words, the thickness of
the placement portion 10p decreases away from the rotation part
11.
[0052] The thickness of the placement portion 10p may change
continuously or in a staircase configuration. Favorably, the bottom
surface of the placement portion 10p is sloped upward as
illustrated in FIGS. 5B and 5C; and the thickness of the placement
portion 10p continuously changes. Due to the change of the
thickness, interference of the supporter 10 with another member can
be suppressed even when the supporter 10 moves in a direction that
is tilted from the longitudinal direction.
[0053] In the illustrated example, the position in the longitudinal
direction of the gripping surface 22 is between the position in the
longitudinal direction of the rotation axis 12 and the position in
the longitudinal direction of the placement portion 10p. In other
words, the rotation axis 12 is positioned further backward of the
gripping surface 22.
[0054] As illustrated in FIG. 5A, the gripper 20 includes a suction
pad 21. The gripping surface 22 that contacts the workpiece W is
located at the front end of the suction pad 21. The gripping
surface 22 spreads along the vertical and lateral directions. A
not-illustrated pressure regulating unit is connected to the
suction pad 21. The suction pad 21 can be caused to grip the
workpiece W by depressurizing the interior of the suction pad 21 in
a state in which the gripping surface 22 contacts the workpiece
W.
[0055] The suction pad 21 is elastic. Therefore, the suction pad 21
is deformable along the shape of the workpiece W when contacting
the workpiece W. Also, the suction pad 21 is deformable according
to the change of the position or the tilt of the workpiece W when
gripping the workpiece W.
[0056] A second driver 32 moves the gripper 20 in the longitudinal
direction. It is favorable for the gripper 20 to move linearly
along the longitudinal direction to cause the gripping surface 22
to perpendicularly contact the side surface of the workpiece W. The
second driver 32 includes, for example, a motor, a pulley, and a
belt. The second driver 32 uses a belt drive to move the gripper
20. Or, the second driver 32 may include an air cylinder, etc.
[0057] As one specific example, the gripper 20 is fixed to a
sliding part 23 as illustrated in FIGS. 1 and 2. The sliding part
23 is located between the abutment part 15 and the vertical frame
41 illustrated in FIG. 4. When the second driver 32 drives the
sliding part 23, the sliding part 23 moves along the longitudinal
direction between the abutment part 15 and the vertical frame 41.
Thereby, the gripper 20 that is fixed to the sliding part 23 is
moved in the longitudinal direction.
[0058] As illustrated in FIG. 4, an engaging groove 24 is provided
along the longitudinal direction in the side surface of the
vertical frame 41. The sliding part 23 includes a not-illustrated
guide; and the engaging groove 24 engages the guide. The movement
direction of the sliding part 23 is regulated by the engagement of
the guide and the engaging groove 24. The gripper 20 is mounted to
the frame 40 via the sliding part 23 and the engaging groove
24.
[0059] In the holding device 100, multiple supporters 10 are
provided in the lateral direction. The multiple supporters 10
support the weight of the workpiece W from below. Also, multiple
grippers 20 are provided in the vertical and lateral directions.
The multiple grippers 20 grip the workpiece W.
[0060] For example, as illustrated in FIGS. 7A and 7B, the holding
device 100 includes a first supporter 10a that is provided at the
right side, and a second supporter 10b that is provided at the left
side. The first supporter 10a and the second supporter 10b are
fixed respectively to a first rotation part 11a and a second
rotation part 11b. The first rotation part 11a and the second
rotation part 11b are mounted respectively to a first sliding part
14a and a second sliding part 14b via a first rotation axis 12a and
a second rotation axis 12b.
[0061] The first sliding part 14a and the second sliding part 14b
are driven by the cylinder of the first driver 31. For example, the
first sliding part 14a is fixed to the cylinder; and the second
sliding part 14b is coupled to the first sliding part 14a. Thereby,
the position in the longitudinal direction of the second sliding
part 14b is fixed with respect to the first sliding part 14a. The
first sliding part 14a and the second sliding part 14b respectively
move simultaneously along a first guide 13a and a second guide 13b.
The first rotation part 11a and the first sliding part 14a are
mounted to a first frame 40a. The second rotation part 11b and the
second sliding part 14b are mounted to a second frame 40b. The
first rotation part 11a and the second rotation part 11b
respectively abut a first abutment part 15a and a second abutment
part 15b that are fixed to the first and second frames 40a and
40b.
[0062] The holding device 100 also includes multiple first grippers
20a that are provided at the right side, and multiple second
grippers 20b that are provided at the left side. The multiple first
grippers 20a are mounted to the first frame 40a via a first sliding
part 23a. The multiple second grippers 20b are mounted to the
second frame 40b via a second sliding part 23b. The multiple first
grippers 20a and the multiple second grippers 20b are connected to
the second driver 32. The multiple first grippers 20a and the
multiple second grippers 20b move simultaneously in the
longitudinal direction.
[0063] For example, the structure of the first supporter 10a, the
first rotation part 11a, the first rotation axis 12a, the first
guide 13a, the first sliding part 14a, the first gripper 20a, and
the first frame 40a and the structure of the second rotation part
11b, the second rotation axis 12b, the second guide 13b, the second
sliding part 14b, the second gripper 20b, and the second frame 40b
have generally planar symmetry with each other when referenced to a
vertical plane passing through the lateral-direction center of the
holding device 100.
[0064] The first frame 40a is arranged in the lateral direction
with the second frame 40b. The distance in the lateral direction
between the first frame 40a and the second frame 40b may be
changeable. The distance between the first supporter 10a and the
second supporter 10b and the distance between the first gripper 20a
and the second gripper 20b increase as the distance between the
first frame 40a and the second frame 40b increases as illustrated
in FIG. 8.
[0065] The positions in the lateral direction of the first and
second frames 40a and 40b are changeable with respect to a base 45.
The distance in the lateral direction between the second frame 40b
and the base 45 changes synchronously with the distance in the
lateral direction between the first frame 40a and the base 45. For
example, the distance between the first frame 40a and the second
frame 40b can be switched according to the lateral-direction length
of the workpiece W. The workpiece W can be more stably held
thereby.
[0066] As an example, the workpiece W is transferred by a roller
conveyor RC. The roller conveyor RC includes multiple rollers R.
The workpiece W is transferred by the rotation of the rollers R.
The widths (the lengths in the lateral direction) of the first and
second supporters 10a and 10b are less than the spacing between the
adjacent rollers R. The spacing between the first supporter 10a and
the second supporter 10b is set to correspond to the spacing
between the adjacent rollers R in both of the states illustrated in
FIGS. 1 and 8. Specifically, a distance D1 between the
lateral-direction center of the first supporter 10a and the
lateral-direction center of the second supporter 10b is an integer
multiple of a distance D2 between the lateral-direction center of
one roller R and the lateral-direction center of another roller R
adjacent to the one roller R in the states illustrated in FIGS. 1
and 8. The first supporter 10a and the second supporter 10b can be
positioned between the rollers R by causing the spacing between the
first supporter 10a and the second supporter 10b to correspond to
the spacing between the rollers R.
[0067] The holding device 100 includes an adjustment mechanism for
adjusting the distance between the first frame 40a and the second
frame 40b. The adjustment mechanism includes a first protrusion
51a, a second protrusion 51b, an engaging member 52, and a third
driver 33.
[0068] As illustrated in FIGS. 9A and 9B, the first protrusion 51a
is fixed with respect to the first frame 40a. The second protrusion
51b is fixed with respect to the second frame 40b. In the
illustrated example, the first protrusion 51a is fixed to a
horizontal frame 42a of the first frame 40a. The second protrusion
51b is fixed to a horizontal frame 42b of the second frame 40b. A
first groove 52a and a second groove 52b that respectively engage
with the first and second protrusions 51a and 51b are provided in
the engaging member 52.
[0069] The distance in the lateral direction between the first
groove 52a and the second groove 52b changes according to the
position in the longitudinal direction. In the illustrated example,
the distance in the lateral direction between the first groove 52a
and the second groove 52b gradually increases backward.
[0070] The position in the longitudinal direction of the first
protrusion 51a and the position in the longitudinal direction of
the second protrusion 51b are fixed. For example, as illustrated in
FIG. 4, engaging grooves 46 are provided in the first and second
frames 40a and 40b. A not-illustrated guide is provided at the
lower surface of the base 45. The engaging groove 46 and the guide
are provided along the lateral direction. The engagement of the
guide and the engaging groove 46 laterally regulate the movement
directions of the first and second frames 40a and 40b and fix the
positions in the longitudinal direction of the first and second
frames 40a and 40b.
[0071] The third driver 33 moves the engaging member 52 in the
longitudinal direction with respect to the first frame 40a, the
second frame 40b, and the base 45. The first protrusion 51a and the
second protrusion 51b move in the lateral direction according to
the distance between the first groove 52a and the second groove 52b
when the engaging member 52 moves in the longitudinal direction.
The first frame 40a and the second frame 40b move in the lateral
direction according to the movements of the first and second
protrusions 51a and 51b. In other words, the motion in the
longitudinal direction of the engaging member 52 is converted into
the motions in the lateral direction of the first and second frames
40a and 40b by the first protrusion 51a, the second protrusion 51b,
and the engaging member 52.
[0072] The third driver 33 moves the engaging member 52 between the
first engagement position and the second engagement position. The
distance between the first protrusion 51a and the second protrusion
51b when the engaging member 52 is at the first engagement position
is different from the distance between the first protrusion 51a and
the second protrusion 51b when the engaging member 52 is at the
second engagement position. The distance between the first
supporter 10a and the second supporter 10b that are mounted
respectively to the first and second frames 40a and 40b can be
changed by the movement of the engaging member 52.
[0073] As one specific example, the first engagement position is
positioned further backward of the second engagement position. FIG.
9A illustrates the state when the engaging member 52 is at the
first engagement position. FIG. 9B illustrates the state when the
engaging member 52 is at the second engagement position. A distance
D3 between the first protrusion 51a and the second protrusion 51b
in the state illustrated in FIG. 9A is less than a distance D4
between the first protrusion 51a and the second protrusion 51b in
the state illustrated in FIG. 9B. When the engaging member 52 is in
the state illustrated in FIG. 9A, the distance between the
supporters 10 is relatively short as illustrated in FIG. 1. When
the engaging member 52 is in the state illustrated in FIG. 9B, the
distance between the supporters 10 is relatively long as
illustrated in FIG. 9B. The third driver 33 includes, for example,
an air cylinder.
[0074] The third driver 33 may include an actuator such as a motor,
etc., instead of the air cylinder.
[0075] For example, the operation of the holding device 100 is
controlled by a controller 90. The controller 90 is electrically
connected to the components of the holding device 100 and transmits
signals to the components. The components operate based on the
signals transmitted from the controller 90.
[0076] FIGS. 10A to 12B are schematic views illustrating a transfer
method according to the embodiment.
[0077] The transfer method according to the embodiment includes a
holding method illustrated in FIGS. 10A to 10C, and a placement
method illustrated in FIGS. 11B to 12B. The transfer method can be
performed using the holding device 100.
[0078] For example, as illustrated in FIG. 10A, the workpiece W is
located on the multiple rollers R. The holding device 100 moves to
the side of the workpiece W. The position of the holding device 100
is adjusted in the vertical, lateral, and longitudinal directions
so that the supporter 10 is positioned between the rollers R when
holding the workpiece W.
[0079] After adjusting the holding device 100, the second driver 32
moves the gripper 20 frontward and causes the gripper 20 to contact
the workpiece W. A stopper ST is provided at the roller conveyor
adjacent to the rollers R. The workpiece W is pressed frontward by
the gripper 20 until the workpiece W contacts the stopper ST. The
gripper 20 grips the workpiece W when the workpiece W contacts the
stopper ST. Continuing as illustrated in FIG. 10B, the first driver
31 moves the rotation part 11 from the first position to the second
position. Thereby, the supporter 10 is moved frontward. The
supporter 10 is positioned between the rollers R and is slightly
separated from the bottom surface of the workpiece W. At this time,
the front end of the workpiece W is positioned further frontward of
the front end of the supporter 10.
[0080] By the operations illustrated in FIGS. 10A and 10B, the
position in the longitudinal direction of the holding device 100 is
adjusted to a predetermined position; and the position of a front
surface FS of the workpiece W is adjusted to the position of the
stopper ST. Thereby, a distance D5 between the stopper ST and the
front end of the supporter 10 is a constant value regardless of the
length in the longitudinal direction of the workpiece W.
[0081] The holding device 100 is raised from the state illustrated
in FIG. 10B. The supporter 10 also is raised; and at least a
portion of the supporter 10 contacts the bottom surface of the
workpiece W. The workpiece W is supported from below by the
supporter 10. The likelihood of the workpiece W dropping from the
supporter 10 due to inertia acting on the workpiece W, etc., can be
reduced by the gripping. The holding device 100 is further raised
as illustrated in FIG. 10C after the workpiece W is held by the
supporting and the gripping.
[0082] The sequence of the gripping of the workpiece W by the
gripper 20 and the movement of the supporter 10 is modifiable as
appropriate. For example, when the workpiece W has not yet reached
the position at which the workpiece W is to be held, the supporter
10 goes ahead and moves; and the holding device 100 waits at the
position until the workpiece W arrives. The time that is necessary
to hold the workpiece W after the workpiece W arrives can be
reduced thereby. The rotation part 11 may be moved from the first
position to the second position when moving the holding device 100
to the standby position.
[0083] When the workpiece W has already reached the position at
which the workpiece W is to be held, it is favorable for the
holding device 100 to be moved to the position of the workpiece W
in the state in which the rotation part 11 is at the first
position. The length in the longitudinal direction of the holding
device 100 is longer when the rotation part 11 is at the second
position than when the rotation part 11 is at the first position.
If the holding device 100 is moved when the rotation part 11 is at
the second position, a wider space is necessary to move the holding
device 100.
[0084] After raising the holding device 100, the holding device 100
is moved to the transfer destination of the workpiece W. For
example, as illustrated in FIG. 11A, the holding device 100 is
moved so that the workpiece W is positioned on a pallet P.
[0085] The holding device 100 is moved toward the placement
location (the pallet P) of the workpiece W. At this time, as
illustrated in FIG. 11B, the holding device 100 is moved so that a
distance D6 between the workpiece W and the placement location
becomes a prescribed value.
[0086] Then, the supporter 10 is tilted to increase the tilt of the
supporter 10 with respect to the gripping surface 22. Specifically,
the first driver 31 moves the rotation part 11 slightly backward of
the second position. When the rotation part 11 is moved in the
direction away from the abutment part 15, the rotation part 11 is
rotated around the rotation axis 12 by the weight of the workpiece
W and the supporter 10. For example, the rotation part 11 is
rotated until restricted by the not-illustrated stopper. Thereby,
the supporter 10 is tilted to a pre-regulated angle with respect to
the direction.
[0087] The workpiece W also is tilted as the supporter 10 is
tilted. One side of the bottom surface BS of the workpiece W
contacts the placement location. Also, the gripper 20 is deformed
according to the tilt of the workpiece W while maintaining the
gripping of the workpiece W. In the illustrated example, the
rotation axis 12 is positioned further backward of the gripper 20.
Therefore, a tilt T1 with respect to the longitudinal direction of
the bottom surface BS is greater than a tilt T2 of the supporter 10
with respect to the longitudinal direction. As a result, as
illustrated in FIG. 11C, the bottom surface BS is separated from
the supporter 10. The weight of the workpiece W is supported by the
gripper 20 and the reaction force from the placement location.
[0088] When the distance D5 illustrated in FIG. 10B is short, the
tip of the supporter 10 is positioned between the bottom surface BS
and the placement location of the workpiece W when the supporter 10
is tilted; and the workpiece W does not contact the placement
location. Therefore, the distance D5 is set to be as short as
possible in the range in which the workpiece W contacts the
placement location when tilting the workpiece W. Also, in the
illustrated example, the tilt when tilting the supporter 10 is
regulated by the mechanism of the rotation part 11 and the sliding
part 14. The displacement amount in the vertical direction of the
one side of the bottom surface BS due to the tilt of the supporter
10 is determined by the distance D5 and the tilt when tilting the
supporter 10. When lowering the holding device 100, the position in
the vertical direction of the holding device 100 is determined
based on the displacement amount. For example, the position in the
vertical direction of the holding device 100 with respect to the
placement location is determined so that the distance D6 between
the placement location and the workpiece W (shown in FIG. 11B) is
not more than the displacement amount.
[0089] By setting the thickness of the placement portion 10p of the
supporter 10 to decrease away from the rotation part 11, the
workpiece W can be caused to contact the placement location when
tilting the supporter 10 even when the distances D5 and D6 are
short. The workpiece W can be supported more stably as the distance
D5 is reduced. The impact that is applied to the workpiece W when
the gripping by the gripper 20 is released can be reduced by
reducing the distance D6.
[0090] As illustrated in FIG. 12A, the supporter 10 is moved
backward and is separated from the workpiece W so that the
supporter 10 is not positioned between the placement location and
the workpiece W. The pressure inside the suction pad 21 is
increased after moving the supporter 10. For example, the pressure
inside the suction pad 21 is set to atmospheric pressure. The
gripping of the workpiece W by the gripper 20 is released thereby.
As illustrated in FIG. 12B, the workpiece W is placed at the
placement location. Thus, the transfer of the workpiece W by the
holding device 100 is completed.
[0091] Effects according to the embodiment will now be
described.
[0092] FIGS. 13A and 13B are schematic views illustrating an
operation of a holding device according to a reference example.
[0093] The tilt of the supporter 10 with respect to the gripping
surface is constant in the holding device 100r according to the
reference example illustrated in FIGS. 13A to 13C.
[0094] When using the holding device 100r to transfer the workpiece
W, the workpiece W is transferred above the pallet P that is the
placement location as illustrated in FIG. 13A. The supporter 10 is
moved backward as illustrated in FIG. 13B in the state in which the
workpiece W is gripped. At this time, the backward movement of the
workpiece W is restricted by the gripper 20. A portion of the
workpiece W drops onto the placement location when supporter 10
moves further backward from the state illustrated in FIG. 13B.
Subsequently, the workpiece W is placed on the placement location
by releasing the gripping of the workpiece W.
[0095] When the holding device 100r according to the reference
example is used, the weight of the workpiece W concentrates at a
front end E of the supporter 10 when the supporter 10 is moved
backward. A reaction force that corresponds to the weight of the
workpiece W is locally applied from the front end of the supporter
10 to the workpiece W. There is a possibility that the bottom
surface of the workpiece W may be dented and the packaged article
may be damaged by the reaction force on the workpiece W.
[0096] In the holding device 100 according to the embodiment, the
tilt of the supporter 10 with respect to the gripping surface 22 is
changeable. Thereby, when placing the workpiece W, the tilt of the
supporter 10 with respect to the longitudinal direction can be
increased while gripping the workpiece W. As illustrated in FIG.
11C, the workpiece W can be caused to contact the placement
location by tilting the supporter 10 before moving the supporter 10
backward. The reaction force that is locally applied to the
workpiece W can be reduced by dispersing the weight of the
workpiece W over the placement location. As a result, the
likelihood of the workpiece W being damaged by the reaction force
from the supporter 10 on the workpiece W when placing the workpiece
W can be reduced.
[0097] Although the positional relationship between the rotation
axis 12 and the gripping surface 22 is arbitrary, it is favorable
for the rotation axis 12 to be positioned further backward of the
gripping surface 22 as illustrated. If the rotation axis 12 is
positioned further frontward of the gripping surface 22, the back
end of the workpiece W is lifted when the supporter 10 is tilted;
and a load is applied to the gripper 20. There is a possibility
that the gripping may be unintentionally released thereby, and the
gripper 20 may be damaged. By positioning the rotation axis 12
further backward of the gripping surface 22, the gripping of the
workpiece W can be more stably maintained, and the likelihood of
the gripper 20 being damaged can be reduced.
[0098] It is favorable for the tilt of the supporter 10 to be
changed according to the movement of the supporter 10. In other
words, it is favorable to change the tilt of the supporter 10
according to the movement of the rotation part 11 between the first
position and the second position due to the first driver 31.
Although a driver for changing the tilt of the supporter 10 may be
provided, this would result in a larger holding device 100. It is
necessary to position the holding device 100 at the side of the
workpiece W to grip and hold the workpiece W. When the holding
device 100 is small, the holding device 100 can be moved into the
space at the side of the workpiece W even when the space is
small.
[0099] When placing the workpiece W, the position in the vertical
direction of the front end of the supporter 10 also changes when
the tilt of the supporter 10 is changed by the movement of the
rotation part 11. The displacement amount of the front end also
increases as the change of the tilt of the supporter 10 increases.
If the difference between the tilt of the supporter 10 with respect
to the longitudinal direction at the first position and the tilt of
the supporter 10 with respect to the longitudinal direction at the
second position is too large, the rotation range of the supporter
10 also increases, and a wider space is necessary to operate the
holding device 100. On the other hand, if the difference is too
small, it is difficult to cause the workpiece W to contact the
placement location when placing the workpiece W. Therefore, it is
favorable for the difference between the tilt of the supporter 10
with respect to the longitudinal direction at the first position
and the tilt of the supporter 10 with respect to the longitudinal
direction at the second position to be not less than 1 degree and
not more than 10 degrees. More favorably, the difference is not
less than 2 degrees and not more than 5 degrees.
[0100] In the illustrated example, multiple supporters 10 are
provided in the lateral direction. The supporter 10 is not limited
to the example; one supporter 10 that is wider may be provided. As
illustrated in FIGS. 1 and 8, it is favorable to provide multiple
supporters 10 so that the supporters 10 can be positioned between
the rollers R when holding the workpiece W located on the multiple
rollers R.
[0101] The holding device 100 or the placement method according to
the embodiment is particularly effective when the supporter 10 is
narrow. When the supporter 10 is narrow, the reaction force per
unit area that is applied from the front end E to the workpiece W
when placing the workpiece W by the method illustrated in FIGS. 13A
to 13C is further increased. Therefore, damage of the workpiece W
occurs more easily. According to the holding device 100 or the
placement method according to the embodiment, even when the
supporter 10 is narrow, the weight of the workpiece W is supported
by the gripper 20 and one side of the bottom surface BS. Therefore,
the likelihood of the workpiece W being damaged can be reduced
regardless of the configuration of the supporter 10.
[0102] It is favorable for the distance in the lateral direction
between the supporters 10 to be changeable. The workpiece W can be
more stably held by changing the distance between the supporters 10
according to the size of the workpiece W. For example, the
workpiece W can be more reliably prevented from dropping, even when
the movement speed when transferring the workpiece W is increased.
As a result, the efficiency of the transfer operation can be
increased.
[0103] As illustrated in FIGS. 9A and 9B, it is favorable for the
distance between the supporters 10 to be changed by converting the
motion in a direction crossing the lateral direction into motion in
the lateral direction. For example, when the air cylinder of the
third driver 33 is provided along the lateral direction, the
lateral-direction length of the holding device 100 lengthens
according to the length of the tube of the air cylinder. The
lateral-direction length of the holding device 100 can be reduced
by converting the motion in the longitudinal direction of the air
cylinder into motion in the lateral direction as illustrated in
FIGS. 9A and 9B. For example, by reducing the lateral-direction
length of the holding device 100 to be about equal to that of the
workpiece W, the holding device 100 can be positioned in a narrow
location. The holding device 100 can be easier to use.
[0104] In the illustrated example, the engaging member 52 moves in
the longitudinal direction. The engaging member 52 is not limited
to the example; the engaging member 52 may move in the vertical
direction. In other words, motion in the vertical direction may be
converted into motion in the lateral direction. However, to
downsize the holding device 100, it is favorable for the engaging
member 52 to move in the longitudinal direction. Because the
supporter 10 moves in the longitudinal direction, it is not easy to
reduce the length in the longitudinal direction of the holding
device 100. The length in the vertical direction of the holding
device 100 is increased by the amount of the movement distance of
the engaging member when the engaging member 52 moves in the
vertical direction. As a result, the length in the longitudinal
direction and the length in the vertical direction of the holding
device 100 become undesirably long. By moving the engaging member
52 in the longitudinal direction to match the movement direction of
the supporter 10, the holding device 100 can be prevented from
becoming larger in the vertical direction.
[0105] In the example described above, the holding device according
to the embodiment includes the gripper 20; and the movement in the
horizontal direction of the workpiece W placed on the supporter 10
is suppressed by the gripper 20. Instead of the gripper 20, the
holding device according to the embodiment may include another
limiter that suppresses the movement in the horizontal direction of
the workpiece W. The form of the limiter is arbitrary as long as
the workpiece W can be tilted according to the change of the tilt
of the supporter 10 while suppressing the movement in the
horizontal direction of the workpiece W.
[0106] For example, the limiter may be a pair of members provided
at the left and the right of the workpiece W. The pair of members
may contact the lateral-direction side surfaces of the workpiece W
when the workpiece W is held. Or, the limiter may be a member
provided above the workpiece W. The member may press on the
workpiece W toward the supporter 10 from above when the workpiece W
is held. The second driver 32 moves the limiter in the longitudinal
direction. By providing the limiter, the movement in the horizontal
direction of the workpiece W can be suppressed, and the likelihood
of the workpiece W dropping from the supporter 10 when transferring
the workpiece W can be reduced.
[0107] Modification
[0108] FIG. 14 is a side view illustrating a support device
according to a modification of the embodiment.
[0109] A support device 110 illustrated in FIG. 14 differs from the
holding device 100 in that the gripper 20 is not included. Instead
of the gripper 20, the support device 110 includes a presser 25.
The presser 25 presses the workpiece W frontward by moving in the
longitudinal direction. The second driver 32 moves the presser 25
in the longitudinal direction.
[0110] The support device 110 transfers the workpiece W by using
the supporter 10 to support the workpiece W from below. Other than
the gripping of the workpiece W, the method illustrated in FIGS.
10A to 12B is applicable to the transfer method of the support
device 110. The movement of the workpiece W toward the stopper ST
is performed by the presser 25 and the second driver 32.
[0111] Other than the gripper 20 and the presser 25, a
configuration similar to the holding device 100 is applicable to
the configuration of the support device 110. For example, the tilt
of the supporter 10 with respect to the longitudinal direction is
changeable in the support device 110. Therefore, similarly to the
holding device 100, the likelihood of the workpiece W being damaged
can be reduced. Also, the distance in the lateral direction between
the first frame 40a and the second frame 40b is changeable. The
workpiece W can be more stably supported by causing the distance
between the supporters 10 to change according to the size of the
workpiece W.
[0112] In the support device 110 as well, the thickness of the
placement portion 10p of the supporter 10 decreases away from the
rotation part 11. Therefore, one side of the workpiece W that is
lifted by the supporter 10 gradually approaches the placement
location according to the change of the thickness when the
supporter 10 is moved backward similarly to the process illustrated
in FIG. 12A. Therefore, the impact that is applied to the workpiece
W due to the workpiece W dropping to the placement location when
the supporter 10 is removed from between the placement location and
the workpiece W can be suppressed.
[0113] FIG. 15 is a schematic perspective view illustrating a
transfer system according to the embodiment.
[0114] The transfer system 200 according to the embodiment includes
the holding device 100, a detector 202, a detector 203, a displayer
204, a main operation part 205, a sub operation part 206, and a
drive device 210.
[0115] The holding device 100 holds the workpiece W that is
transferred by the roller conveyor RC. The drive device 210 is
coupled to the base 45 of the holding device 100 from above. The
drive device 210 transfers the workpieces W one at a time onto the
pallet P by moving the holding device 100.
[0116] The detector 202 is located above the pallet P. The detector
202 detects the position and size of each workpiece W. For example,
the detector 202 includes at least one of a camera or a sensor.
Based on the detection result of the detector 202, the controller
90 adjusts the height (e.g., the distance D6 shown in FIG. 11B) of
the holding device 100 when the holding device 100 places the
workpiece W.
[0117] For example, a fence 207 is provided around the pallet P.
The detector 203 is mounted to the fence 207. The detector 203
detects when a human goes inside the fence 207. The controller 90
stops or withdraws the holding device 100 when the detector 203
detects the entrance of the human inside the fence 207. Infrared
sensors, distance sensors, transmission-type photoelectric sensors,
etc., can be used as the detectors 202 and 203.
[0118] The displayer 204 displays the operation condition of the
holding device 100. For example, the displayer 204 displays
information indicating that the holding device 100 is operating or
information indicating that the holding device 100 is stopped. The
main operation part 205 accepts detailed operations and settings of
the holding device 100. The sub operation part 206 accepts simple
operations of the holding device 100.
[0119] By providing the holding device 100 in the transfer system
200, the likelihood of the workpiece W being damaged when
transferring can be reduced. Or, the support device 110 may be
provided in the transfer system 200. In such a case as well,
similarly, the likelihood of the workpiece W being damaged when
transferring can be reduced.
[0120] Here, an example is described in which one holding device
100 is provided in the transfer system 200. The transfer system 200
may include multiple holding devices 100 or multiple support
devices 110.
[0121] According to the holding device, the support device, the
transfer system, the holding method, the placement method, or the
transfer method described above, the likelihood of the workpiece W
being damaged can be reduced.
[0122] Embodiments may include the following configurations.
[0123] Configuration 1
[0124] A support device, comprising:
[0125] a first supporter and a second supporter separated from each
other in a third direction, the first and second supporters
extending in a second direction and supporting a weight of a
workpiece in a first direction, the second direction crossing the
first direction, the third direction crossing a plane including the
first and second directions;
[0126] a first frame mounted to the first supporter;
[0127] a second frame mounted to the second supporter;
[0128] a first driver moving the first and second supporters in the
second direction with respect to the first and second frames;
[0129] a first protrusion fixed with respect to the first
frame;
[0130] a second protrusion fixed with respect to the second frame,
so that the first and second protrusions are arranged with each
other in the third direction;
[0131] an engaging member including [0132] a first groove engaging
the first protrusion, and [0133] a second groove engaging the
second protrusion;
[0134] and
[0135] a third driver moving the engaging member with respect to
the first and second frames,
[0136] the third driver moving the engaging member between a first
engagement position and a second engagement position,
[0137] a distance in the third direction between the first
protrusion and the second protrusion when the engaging member is at
the first engagement position being different from the distance in
the third direction between the first protrusion and the second
protrusion when the engaging member is at the second engagement
position,
[0138] a distance in the third direction between the first
supporter and the second supporter being changed by the movement of
the engaging member.
[0139] While certain embodiments have been described, these
embodiments have been presented by way of example only, and are not
intended to limit the scope of the inventions. Indeed, the novel
embodiments described herein may be embodied in a variety of other
forms; furthermore, various omissions, substitutions and changes in
the form of the embodiments described herein may be made without
departing from the spirit of the inventions. The accompanying
claims and their equivalents are intended to cover such forms or
modifications as would fall within the scope and spirit of the
invention. The above embodiments can be practiced in combination
with each other.
* * * * *